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Improve use of MAVSDK::first_autopilot()

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Check return value of MAVSDK::first_autopilot(). Before application
crashed if ArduPilot was not running.

Type: Improvement
Issue: https://denyspopov.atlassian.net/browse/AZ-17
This commit is contained in:
Tuomas Järvinen
2024-05-21 15:50:26 +02:00
parent ab791eb254
commit 2275a0a5ee
2 changed files with 14 additions and 5 deletions
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src/az_config.h
+4 -3
View File
@@ -1,5 +1,6 @@
#pragma once #pragma once
const char *AZ_CONNECTION_SERIAL = "serial:///dev/ttyS0:115200"; const char *AZ_CONNECTION_SERIAL = "serial:///dev/ttyS0:115200";
const char *AZ_CONNECTION_UDP = "udp://:14550"; const char *AZ_CONNECTION_UDP = "udp://:14550";
const int AZ_RELATIVE_FLY_ALTITUDE = 50; const int AZ_RELATIVE_FLY_ALTITUDE = 50;
const float AZ_GET_AUTOPILOT_TIMEOUT = 3.0;
src/az_drone_controller.cpp
+10 -2
View File
@@ -73,8 +73,16 @@ bool AzDroneController::stateConnect(void)
bool AzDroneController::stateAutopilot(void) bool AzDroneController::stateAutopilot(void)
{ {
// Get the first autopilot from the flight controller. std::optional<std::shared_ptr<System>> autopilot = mMavsdk.first_autopilot(AZ_GET_AUTOPILOT_TIMEOUT);
return (mSystem = mMavsdk.first_autopilot(3.0).value()) != nullptr;
if (autopilot.has_value()) {
mSystem = autopilot.value();
return true;
}
else {
qCritical() << "MAVSDK::first_autopilot() failed";
return false;
}
} }
bool AzDroneController::stateTelemetryModule(void) bool AzDroneController::stateTelemetryModule(void)